Path tracking control for an intelligent commercial vehicle based on optimal preview and model predictive

doi:10.3969/j.issn.1674-8484.2020.04.005

Abstract

Abstract:

An optimal preview control strategy was adopted to solved path tracking problem of intelligent commercial vehicles. According to the relationship between the heading angle and the curvature of the path, the heading angle deviation feedback control was introduced. According to the relationship between the speed and the preview distance, a multi-point preview distance determination method with variable weight coefficient was proposed. In order to ensure the stability of path tracking, the model predictive control was used to restrict the wheel sideslip angle. Through co-simulation of TruckSim and Simulink, the lateral deviations, the yaw rates and the front wheel slip angles were compared. The results show that the optimal preview control has good adaptability to the speed, but when the road adhesion factor is low, the vehicle will lose stability; The model predictive control has better adaptability to speeds and road adhesion factors, and has better driving stability, and has more accurate path tracking effect than the optimal preview control.

Key words: intelligent commercial vehicles, path tracking, road adhesion factors, optimal preview control, model predictive control

CLC Number:

U471.15

LI Yaohua, LIU Yang, FENG Qianlong, NAN Youfei, HE Jie, FAN Jikang. Path tracking control for an intelligent commercial vehicle based on optimal preview and model predictive[J]. Journal of Automotive Safety and Energy, 2020, 11(4): 462-469.

Figures/Tables 9

References 19

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整备质量,m_c	12 t
总质量,m_a	16 t
长×宽×高,L×B×H	12 m × 2.5 m × 3.5 m
轴距,L_b	6 m
质心高度,H_m	1.35 m
转向器传动比,i	25
最高时速,v_max	80 km·h^-1
质心到前轴距离,L_mf	4 m
转向轴扭转刚度,T_s	700 Nm·rad^-1
车质量12 t前轮侧偏刚度,C_f	130 kN·rad

整备质量,m_c	12 t
总质量,m_a	16 t
长×宽×高,L×B×H	12 m × 2.5 m × 3.5 m
轴距,L_b	6 m
质心高度,H_m	1.35 m
转向器传动比,i	25
最高时速,v_max	80 km·h^-1
质心到前轴距离,L_mf	4 m
转向轴扭转刚度,T_s	700 Nm·rad^-1
车质量12 t前轮侧偏刚度,C_f	130 kN·rad

车速 km·h^-1	稳态最大侧向预瞄距离偏差 / mm
车速 km·h^-1	单点	定权重多点	变权重多点
30	205	187	159
70	288	271	224

车速 km·h^-1	稳态最大侧向预瞄距离偏差 / mm
车速 km·h^-1	单点	定权重多点	变权重多点
30	205	187	159
70	288	271	224

采样时间,T	20 ms
预测时域,N_p	20
控制时域,N_c	4
权重矩阵,Q	diag[200,30,50,100]
权重因数,R	10
权重因数,S	100
权重因数,ρ	1000